Journal articles: 'Manipulation robotics'

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Mason, Matthew T. "Toward Robotic Manipulation." Annual Review of Control, Robotics, and Autonomous Systems 1, no. 1 (May 28, 2018): 1–28. http://dx.doi.org/10.1146/annurev-control-060117-104848.

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This article surveys manipulation, including both biological and robotic manipulation. Biology inspires robotics and demonstrates aspects of manipulation that are far in the future of robotics. Robotics develops concepts and principles that become evident only in the creative process. Robotics also provides a test of our understanding. As Richard Feynman put it: “What I cannot create, I do not understand.”

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Guo, Wanjin, Ruifeng Li, Yaguang Zhu, Tong Yang, Rui Qin, and Zhixin Hu. "A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator." Applied Sciences 9, no. 10 (May 17, 2019): 2033. http://dx.doi.org/10.3390/app9102033.

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Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool position and orientation planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method is proposed based on fuzzy control. Furthermore, a dexterous manipulation verification experiment is conducted to demonstrate the dexterous manipulation and the orientation reachability of the robot manipulator. Additionally, two robotic deburring experiments are conducted to verify the effectiveness of the two proposed methods and demonstrate the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator.

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Ladig, Robert, Hannibal Paul, Ryo Miyazaki, and Kazuhiro Shimonomura. "Aerial Manipulation Using Multirotor UAV: A Review from the Aspect of Operating Space and Force." Journal of Robotics and Mechatronics 33, no. 2 (April 20, 2021): 196–204. http://dx.doi.org/10.20965/jrm.2021.p0196.

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Aerial manipulation: physical interaction with the environment by using a robotic manipulator attached to the airframe of an aerial robot. In the future one can expect that aerial manipulation will greatly extend the range of possible applications for mobile robotics, especially multirotor UAVs. This can range from inspection and maintenance of previously hard to reach pieces of infrastructure, to search and rescue applications. What kind of manipulator is attached to what position of the airframe is a key point in accomplishing the aerial robot’s function and in the past, various aerial manipulation solutions have been proposed. This review paper gives an overview of the literature on aerial manipulation that have been proposed so far and classifies them by configuration of the workspace and function.

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Prado da Fonseca, Vinicius. "Tactile Sensor Analysis during Early Stages of Manipulation for Single Grasp Identification of Daily Objects." Engineering Proceedings 6, no. 1 (May 17, 2021): 56. http://dx.doi.org/10.3390/i3s2021dresden-10091.

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Dexterous robotic manipulation in unstructured environments is still challenging, despite the increasing number of robots entering human settings each day. Even though robotic manipulation provides complete solutions in factories and industries, it still lacks essential techniques, displaying clumsy or limited operation in unstructured environments. Daily objects typically aim at the human hand, and the human somatosensory system is responsible for solving all the complex calculations required for dexterous manipulations in unstructured settings. Borrowing concepts of the human visuotactile system can improve dexterous manipulation and increase robotics usage in unstructured environments. In humans, required finger and wrist joint adjustments occur after fast identification of the object in the initial stages of manipulation. Fast object identification during those phases may increase robotic dexterous manipulation performance. The present paper explores human-inspired concepts such as haptic glance to develop robotic single-grasp object identification. This concept can assist early phases of robotic manipulation, helping automated decision-making, such as type of grasp and joint position, during manipulation tasks. The main stages developed here are detecting sensor activation and sample collection using signal-to-noise and z-score filtering on tactile data. This procedure automates touch detection and reduces the sensor space for classification. Experiments on a daily objects dataset presented compelling results that will assist in the later stages of the early phases of robotic grasping.

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Gerasimenko, M. Yu, M. A. Eremushkin, M. V. Arkhipov, Yu I. Kolyagin, and I. V. Antonovich. "THE PROSPECTS FOR THE FURTHER DEVELOPMENT OF THE ROBOTIC MANIPULATION MECHANOTHERAPEUTIC COMPLEXES." Russian Journal of Physiotherapy, Balneology and Rehabilitation 16, no. 2 (April 15, 2017): 65–69. http://dx.doi.org/10.18821/1681-3456-2017-16-2-65-69.

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The ongoing active development of robotics in the framework of the new economic paradigm known as «the 4th technological revolution» opens up new possibilities for the progress in various disciplines including medicine. The further improvement and clinical application of robotic manipulation mechanotherapeutic complexes are among the major priorities for the Russian public healthcare system. The article represents the characteristics of the Russian robotic manipulator prototype designed to enhance the effectiveness of medical rehabilitation, develop various options of the robotic situational behavior, and specify the topical issues as regards the improvement of the manipulation robotic systems that require the effective solutions and actions. The prospects for the formation of the basic principles of new specialty «massage programmer» are outlined based on the above considerations.

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Postelnicu, Cristian, Florin Barbuceanu, Tudor Topoleanu, and Doru Talaba. "EOG-Based Interface for Manipulation Tasks." Applied Mechanics and Materials 162 (March 2012): 537–42. http://dx.doi.org/10.4028/www.scientific.net/amm.162.537.

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Recently human-robot interaction (HRI) has become a highly researched topic in robotics, especially in assistive robotics systems. A category of persons that require special attention is represented by the disabled people. For persons suffering of amyotrophic lateral sclerosis or brainstem stroke there are a few available interfaces among which is electrooculography (EOG) that offers an alternative communication channel. In this paper is proposed a paradigm for sending manipulation commands to a virtual robotic arm. A manipulation task is defined by three coordinates in space, the rest of the process being automatically executed. The users are asked to complete a simple task such as pour water into a glass from a bottle by activating the manipulation command.

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Klatzky, Roberta L., Susan J. Lederman, and J. D. Balakrishnan. "Task–Driven Extraction of Object Contour by Human Haptics: Part 1." Robotica 9, no. 1 (January 1991): 43–51. http://dx.doi.org/10.1017/s0263574700015551.

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SUMMARYThe extraction of contour information from objects is essential for purposes of grasping and manipulation. We proposed that human haptic exploration of contours, in the absence of vision, would reveal specialized patterns. Task goals and intrinsic system capacities were assumed to constrain the breadth of processing and the precision with which contour is encoded, thus determining parameters of exploration and ultimately producing movement synergies or “contour exploration procedures.” A methodology for testing these assumptions is described, and the most frequently observed procedures are documented in Part 1. Part 2 will further analyze the procedures, test predictions, and develop implications of the research. The paper (2 parts) is novel in its study of human manipulative behavior from a robotic standpoint; it is thus of interest to robotics research workers interested in the long-term goals of robot manipulation and those interested in an anthropomorphic approach to robotics studies.

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Ibarguren, Aitor, Iveta Eimontaite, José Luis Outón, and Sarah Fletcher. "Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation." Sensors 20, no. 21 (October 29, 2020): 6151. http://dx.doi.org/10.3390/s20216151.

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The emergence of collaborative robotics has had a great impact on the development of robotic solutions for cooperative tasks nowadays carried out by humans, especially in industrial environments where robots can act as assistants to operators. Even so, the coordinated manipulation of large parts between robots and humans gives rise to many technical challenges, ranging from the coordination of both robotic arms to the human–robot information exchange. This paper presents a novel architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop, as well as adding mechanisms to provide effective robot-to-human feedback for a successful and satisfactory task completion. The obtained results demonstrate the validity of the proposed architecture as well as its suitability for the implementation of collaborative robotic systems.

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Lang, Haoxiang, Muhammad Tahir Khan, Kok-Kiong Tan, and Clarence W. de Silva. "Developments in Visual Servoing for Mobile Manipulation." Unmanned Systems 01, no. 01 (June 20, 2013): 143–62. http://dx.doi.org/10.1142/s2301385013300011.

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A new trend in mobile robotics is to integrate visual information in feedback control for facilitating autonomous grasping and manipulation. The result is a visual servo system, which is quite beneficial in autonomous mobile manipulation. In view of mobility, it has wider application than the traditional visual servoing in manipulators with fixed base. In this paper, the state of art of vision-guided robotic applications is presented along with the associated hardware. Next, two classical approaches of visual servoing: image-based visual servoing (IBVS) and position-based visual servoing (PBVS) are reviewed; and their advantages and drawbacks in applying to a mobile manipulation system are discussed. A general concept of modeling a visual servo system is demonstrated. Some challenges in developing visual servo systems are discussed. Finally, a practical application of mobile manipulation system which is developed for applications of search and rescue and homecare robotics is introduced.

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Veliev, E. I., R. F. Ganiev, V. A. Glazunov, and G. S. Filippov. "Parallel and sequential structures of manipulators in robotic surgery." Доклады Академии наук 485, no. 2 (May 20, 2019): 166–70. http://dx.doi.org/10.31857/s0869-56524852166-170.

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The problems of modern robotics associated with the requirements for devices designed for various purposes are considered. The daVinci robotic surgical manipulation system is analyzed. The developed robotic system with a parallel structure designed for various kinds of surgical operations is proposed.

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Dömel, Andreas, Simon Kriegel, Michael Kaßecker, Manuel Brucker, Tim Bodenmüller, and Michael Suppa. "Toward fully autonomous mobile manipulation for industrial environments." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141771858. http://dx.doi.org/10.1177/1729881417718588.

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This work presents a concept for autonomous mobile manipulation in industrial environments. Utilizing autonomy enables an unskilled human worker to easily configure a complex robotics system in a setup phase before carrying out fetch and carry operations in the execution phase. In order to perform the given tasks in real industrial production sites, we propose a robotic system consisting of a mobile platform, a torque-controlled manipulator, and an additional sensor head. Multiple sensors are attached which allow for perception of the environment and the objects to be manipulated. This is essential for coping with uncertainties in real-world application. In order to provide an easy-to-use and flexible system, we present a modular software concept which is handled and organized by a hierarchical flow control depending on the given task and environmental requirements. The presented concept for autonomous mobile manipulation is implemented exemplary for industrial manipulation tasks and proven by real-world application in a water pump production site. Furthermore, the concept has also been applied to other robotic systems and other domains for planetary exploration with a rover.

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Taguchi, Kan. "Special Issue on Robot with Integrated Locomotion and Manipulation." Journal of Robotics and Mechatronics 9, no. 4 (August 20, 1997): 247. http://dx.doi.org/10.20965/jrm.1997.p0247.

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Recently, demand has risen for outdoor robots in architecture, civil engineering, agriculture, fire fighting, or restorations of earthquake disasters. For such cases, robots should have both locomotion and manipulation to work in unknown and unassisted fields. Since robot locomotion and manipulation have been researched independently, robots with integrated locomotion and manipulation are anticipated. However, problems involve the cooperative control of locomotor and manipulators or their integrated mechanisms. In January 1994, the Robotics Society of Japan set up an integrated locomotion and manipulation robot research committee whose aim is identify different aspects of such robots, such as analysis and synthesis of mechanisms, control theory for integrated locomotion and manipulation, and actual on-job applications. The Committee includes researchers from industry, government laboratories, and academia, who have discussed the possibilities of new type robots. The Committee organized sessions such as ""Robots with Integrated Locomotion and Manipulations"" in the 12th (1994) to 14th (1996) annual conferences of the Robotics Society of Japan and ""Integrated Locomotion & Manipulation"" in International Robotics Symposium IROS96. A special issue of ""Integrated Locomotion and Manipulation"" for the <I>Journal of the Robotics Society of Japan</I> was compiled and published in November 1995 by the Committee. In November 1996, the Committee handed in its final report to the Society and adjourned. The final report is in Japanese. As a Committee member, I have wanted to introduce some of the Final Report in English. Fortunately, the editors of the <I>Journal of Robotics and Mechatronics</I> have given me the opportunity to publish these reports in a special issue. Other Committee members have agreed to contribute as well. I thank the Committee -- especially Chairman Dr. Tatsuo Arai (MEL), who encouraged me in writing this article. Special thanks go to Prof. Yamafuji, who introduced me to the editors who gave me the chance to publish this article.

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Hernandez-Mendez, Sergio, Elvia Ruth Palacios-Hernandez, Antonio Marin-Hernandez, Ericka Janet Rechy-Ramirez, and Hector Vazquez-Leal. "Design and Implementation of Composed Position/Force Controllers for Object Manipulation." Applied Sciences 11, no. 21 (October 21, 2021): 9827. http://dx.doi.org/10.3390/app11219827.

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In the design of a controller for grasping objects through a robotic manipulator, there are two key problems: to find the position of the object to be grasped accurately, and to apply the appropriate force to each finger to handle the object properly without causing undesirable movement of it during its manipulation. A proportional-integral-derivative (PID) controller is widely used to grasp objects in robotics; however, its main shortcomings are its sensitivity to controller gains, sluggish response, and high starting overshooting. This research presents three coupled (position/force) controllers for object manipulation using an assembled robotic manipulator (i.e., a gripper attached to a robotic arm mounted on a mobile robot). Specifically, an angular gripper was employed in this study, which was composed of two independent fingers with a piezoelectric force sensor attached to each fingertip. The main contributions of this study are the designs and implementations of three controllers: a classic PID controller, a type-I controller, and a type-II fuzzy controller. These three controllers were used to find an object to be grasped properly (position) and apply an equivalent force to each finger (force).

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Sanz, Pedro J. "Editorial." Robotica 25, no. 2 (March 2007): 129–30. http://dx.doi.org/10.1017/s0263574707003499.

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The idea underlying this Special Issue arises from previous successfully international events organized in this robotics context. Thus, during 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, hosted in Edmonton, Canada, a Workshop, with the same title was successfully organized by this guest editor. Moreover, this editor was involved in this research area, as co-Chair of the “Manipulation and Grasping Interest Group”, within the European Robotics Research Network (i.e. EURON), from 2001, organizing also a couple of International Summer Schools, supported by EURON, on these topics (Spain, 2001 and 2004). On the other hand, as time goes by, more and more robotics applications are oriented towards working in all kind of service domains, such as hospitals, museums, etc. Hence, the interest on those robotic systems, integrating manipulation and navigation capabilities, namely mobile manipulators, is drastically increasing around the entire world. Therefore, this special issue is trying to face this new scenario providing a comprehensive overview of some key topics, foundations and applications within the Mobile Manipulators context, including human-robot interaction aspects and critical issues related with navigation and manipulation performance, among others.

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Abbott, Jake J., Eric Diller, and Andrew J. Petruska. "Magnetic Methods in Robotics." Annual Review of Control, Robotics, and Autonomous Systems 3, no. 1 (May 3, 2020): 57–90. http://dx.doi.org/10.1146/annurev-control-081219-082713.

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The goal of this article is to provide a thorough introduction to the state of the art in magnetic methods for remote-manipulation and wireless-actuation tasks in robotics. The article synthesizes prior works using a unified notation, enabling straightforward application in robotics. It begins with a discussion of the magnetic fields generated by magnetic materials and electromagnets, how magnetic materials become magnetized in an applied field, and the forces and torques generated on magnetic objects. It then describes systems used to generate and control applied magnetic fields, including both electromagnetic and permanent-magnet systems. Finally, it surveys work from a variety of robotic application areas in which researchers have utilized magnetic methods, including microrobotics, medical robotics, haptics, and aerospace.

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Ellery. "Tutorial Review on Space Manipulators for Space Debris Mitigation." Robotics 8, no. 2 (April 26, 2019): 34. http://dx.doi.org/10.3390/robotics8020034.

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Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of active debris removal informed by activities in on-orbit servicing. We begin with a cursory review of on-orbit servicing manipulators followed by a short review on the space debris problem. Following brief consideration of the time delay problems in teleoperation, the meat of the paper explores the field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft. The core of the issue concerns the spacecraft mounting which reacts in response to the motion of the manipulator. We favour the implementation of spacecraft attitude stabilisation to ease some of the computational issues that will become critical as increasing level of autonomy are implemented. We review issues concerned with physical manipulation and the problem of multiple arm operations. We conclude that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.

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Hernández-Ordoñez, Martín, Marco A. Nuño-Maganda, Carlos A. Calles-Arriaga, Omar Montaño-Rivas, and Karla E. Bautista Hernández. "An Education Application for Teaching Robot Arm Manipulator Concepts Using Augmented Reality." Mobile Information Systems 2018 (August 6, 2018): 1–8. http://dx.doi.org/10.1155/2018/6047034.

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Teaching robotics is a challenge in many universities due to the mathematics concepts used in this area. In recent years, augmented reality has improved learning in several engineering areas. In this paper, a platform for teaching robotic arm manipulation concepts is presented. The system includes a homemade robotic arm, a control system, and the RAR@pp. The RAR@pp is focused on learning robotic arm manipulation algorithms by the detection of markers in the robotic arm and displaying in real time the values based on the data obtained by the control system. Details on the design of the platform are presented, and the related results are discussed. Experimental data about the usability of the application are also shown.

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Agha, Rawan A. AlRashid, Zhwan Hani Mahdi, Muhammed N. Sefer, and Ibrahim Hamarash. "A ROS-Gazebo Interface for the Katana Robotic Arm Manipulation." UKH Journal of Science and Engineering 5, no. 1 (June 30, 2021): 26–37. http://dx.doi.org/10.25079/ukhjse.v5n1y2021.pp26-37.

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Nowadays, simulators are being used more and more during the development of robotic systems due to the efficiency of the development and testing processes of such applications. Undoubtedly, these simulators save time, resources and costs, as well as enable ease of demonstrations of the system. Specifically, tools like the open source Robotic Operating System (ROS) and Gazebo have gained popularity in building models of robotic systems. ROS is extensively used in robotics due to the pros of hardware abstraction and code reuse. The Gazebo platform is used for visualisation because of its high compatibility with ROS. In this paper, ROS and Gazebo have been integrated to build an interface for the visualisation of the Katana Arm manipulator.

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Ott, Christian, Alexander Dietrich, Daniel Leidner, Alexander Werner, Johannes Englsberger, Bernd Henze, Sebastian Wolf, et al. "From Torque-Controlled to Intrinsically Compliant Humanoid Robots." Mechanical Engineering 137, no. 06 (June 1, 2015): S7—S11. http://dx.doi.org/10.1115/1.2015-jun-5.

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This paper gives an overview of the advancements in humanoid robotics at the German Aerospace Center (DLR) over the last 10 years. The development started with focus on dexterous, bimanual manipulation with the wheel-based humanoid Rollin’ Justin and continued with legged locomotion on TORO. With Rollin’ Justin, the team aims to create a cognitive robotic system that can reason about compliant manipulation tasks, based on intelligent decisions according to the actual state of the environment. These humanoids are expected to can perform a multitude of complex tasks and hereby contributing to human welfare. Possible fields of use include service robotics, industrial co-workers, search and rescue, space applications, medical robotics, etc. The experts suggest that teleoperated scenarios are feasible in short term, developing in long term towards shared or even full autonomy. Still, advancements must be made in almost all areas, starting from mechatronic robustness, reliability and energy efficiency, over multimodal perception and control up to autonomous planning and Artificial Intelligence-based reasoning. Development of interaction interfaces and communication modalities to humans will play an increasingly key role in the future.

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Parida, P. K., Bibhuti Bhusan Biswal, and M. R. Khan. "Kinematic Modeling and Analysis of a Multifingered Robotic Hand." Advanced Materials Research 383-390 (November 2011): 6684–88. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.6684.

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Precise and secure handling of flexible or irregularly shaped objects by robotic hands has become a challenge. Robot hands used in medical robotics and rehabilitation robotics need to be anthropomorphic to do the desired tasks. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes poses several problems due to control, manufacturing and economic reasons. The present work aims at designing and developing a robotic hand with five fingers for manipulation of objects. The kinematic modeling and its analysis, as a part of the development process is presented in this paper. The simulation results of the hand shows that the conceptualized design is yielding the desired result and works very efficiently.

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Vitanov, Ivan, Ildar Farkhatdinov, Brice Denoun, Francesca Palermo, Ata Otaran, Joshua Brown, Bukeikhan Omarali, et al. "A Suite of Robotic Solutions for Nuclear Waste Decommissioning." Robotics 10, no. 4 (October 7, 2021): 112. http://dx.doi.org/10.3390/robotics10040112.

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Dealing safely with nuclear waste is an imperative for the nuclear industry. Increasingly, robots are being developed to carry out complex tasks such as perceiving, grasping, cutting, and manipulating waste. Radioactive material can be sorted, and either stored safely or disposed of appropriately, entirely through the actions of remotely controlled robots. Radiological characterisation is also critical during the decommissioning of nuclear facilities. It involves the detection and labelling of radiation levels, waste materials, and contaminants, as well as determining other related parameters (e.g., thermal and chemical), with the data visualised as 3D scene models. This paper overviews work by researchers at the QMUL Centre for Advanced Robotics (ARQ), a partner in the UK EPSRC National Centre for Nuclear Robotics (NCNR), a consortium working on the development of radiation-hardened robots fit to handle nuclear waste. Three areas of nuclear-related research are covered here: human–robot interfaces for remote operations, sensor delivery, and intelligent robotic manipulation.

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Kumar, Pardeep, Michaël Gauthier, and Redwan Dahmouche. "Path Planning for 3-D In-Hand Manipulation of Micro-Objects Using Rotation Decomposition." Micromachines 12, no. 8 (August 19, 2021): 986. http://dx.doi.org/10.3390/mi12080986.

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Robotic manipulation and assembly of micro and nanocomponents in confined spaces is still a challenge. Indeed, the current proposed solutions that are highly inspired by classical industrial robotics are not currently able to combine precision, compactness, dexterity, and high blocking forces. In a previous work, we proposed 2-D in-hand robotic dexterous manipulation methods of arbitrary shaped objects that considered adhesion forces that exist at the micro and nanoscales. Direct extension of the proposed method to 3-D would involve an exponential increase in complexity. In this paper, we propose an approach that allows to plan for 3-D dexterous in-hand manipulation with a moderate increase in complexity. The main idea is to decompose any 3-D motion into a 3-D translation and three rotations about specific axes related to the object. The obtained simulation results show that 3-D in-hand dexterous micro-manipulation of arbitrary objects in presence of adhesion forces can be planned in just few seconds.

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Calisti, M., G. Picardi, and C. Laschi. "Fundamentals of soft robot locomotion." Journal of The Royal Society Interface 14, no. 130 (May 2017): 20170101. http://dx.doi.org/10.1098/rsif.2017.0101.

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Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human–robot interaction and locomotion. Although field applications have emerged for soft manipulation and human–robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.

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Rossiter, Jonathan. "Soft robotics: the route to true robotic organisms." Artificial Life and Robotics 26, no. 3 (June 29, 2021): 269–74. http://dx.doi.org/10.1007/s10015-021-00688-w.

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AbstractSoft Robotics has come to the fore in the last decade as a new way of conceptualising, designing and fabricating robots. Soft materials empower robots with locomotion, manipulation, and adaptability capabilities beyond those possible with conventional rigid robots. Soft robots can also be made from biological, biocompatible and biodegradable materials. This offers the tantalising possibility of bridging the gap between robots and organisms. Here, we discuss the properties of soft materials and soft systems that make them so attractive for future robots. In doing so, we consider how future robots can behave like, and have abilities akin to, biological organisms. These include huge numbers, finite lifetime, homeostasis and minimal—and even positive—environmental impact. This paves the way for future robots, not as machines, but as robotic organisms.

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Campeau-Lecours, Alexandre, Hugo Lamontagne, Simon Latour, Philippe Fauteux, Véronique Maheu, François Boucher, Charles Deguire, and Louis-Joseph Caron L'Ecuyer. "Kinova Modular Robot Arms for Service Robotics Applications." International Journal of Robotics Applications and Technologies 5, no. 2 (July 2017): 49–71. http://dx.doi.org/10.4018/ijrat.2017070104.

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This article presents Kinova's modular robotic systems, including the robots JACO2 and MICO2, actuators and grippers. Kinova designs and manufactures robotics platforms and components that are simple, sexy and safe under two business units: Assistive Robotics empowers people living with disabilities to push beyond their current boundaries and limitations while Service Robotics empowers people in industry to interact with their environment more efficiently and safely. Kinova is based in Boisbriand, Québec, Canada. Its technologies are exploited in over 25 countries and are used in many applications, including as service robotics, physical assistance, medical applications, mobile manipulation, rehabilitation, teleoperation and in research in different areas such as computer vision, artificial intelligence, grasping, planning and control interfaces. The article describes Kinova's hardware platforms, their different control modes (position, velocity and torque), control features and possible control interfaces. Integration to other systems and application examples are also presented.

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Wang, Cong, Qifeng Zhang, Qiyan Tian, Shuo Li, Xiaohui Wang, David Lane, Yvan Petillot, and Sen Wang. "Learning Mobile Manipulation through Deep Reinforcement Learning." Sensors 20, no. 3 (February 10, 2020): 939. http://dx.doi.org/10.3390/s20030939.

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Mobile manipulation has a broad range of applications in robotics. However, it is usually more challenging than fixed-base manipulation due to the complex coordination of a mobile base and a manipulator. Although recent works have demonstrated that deep reinforcement learning is a powerful technique for fixed-base manipulation tasks, most of them are not applicable to mobile manipulation. This paper investigates how to leverage deep reinforcement learning to tackle whole-body mobile manipulation tasks in unstructured environments using only on-board sensors. A novel mobile manipulation system which integrates the state-of-the-art deep reinforcement learning algorithms with visual perception is proposed. It has an efficient framework decoupling visual perception from the deep reinforcement learning control, which enables its generalization from simulation training to real-world testing. Extensive simulation and experiment results show that the proposed mobile manipulation system is able to grasp different types of objects autonomously in various simulation and real-world scenarios, verifying the effectiveness of the proposed mobile manipulation system.

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CHEN, Y., and F. NAGHDY. "TEACHING MANIPULATION SKILLS TO A ROBOT THROUGH A HAPTIC RENDERED VIRTUAL ENVIRONMENT." Journal of Advanced Manufacturing Systems 01, no. 01 (June 2002): 89–105. http://dx.doi.org/10.1142/s0219686702000088.

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A new paradigm for programming of robotics manipulator to perform complex constrained motion tasks is being studied. The teaching of the manipulation skills to the machine starts by demonstrating those skills in a haptic-rendered virtual environment. Position and contact force and torque data generated in the virtual environment combined with a priori knowledge about the task is used to identify and learn the skills in the newly demonstrated tasks and then to reproduce them in the robotics system. The peg-in-hole insertion problem is used as a study case. The overall concept is described. The methodologies developed to build the virtual environment and to learn the basic skills are presented. Results obtained so far are provided.

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Zhai, Zirui, Yong Wang, Ken Lin, Lingling Wu, and Hanqing Jiang. "In situ stiffness manipulation using elegant curved origami." Science Advances 6, no. 47 (November 2020): eabe2000. http://dx.doi.org/10.1126/sciadv.abe2000.

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The capability of stiffness manipulation for materials and structures is essential for tuning motion, saving energy, and delivering high power. However, high-efficiency in situ stiffness manipulation has not yet been successfully achieved despite many studies from different perspectives. Here, curved origami patterns were designed to accomplish in situ stiffness manipulation covering positive, zero, and negative stiffness by activating predefined creases on one curved origami pattern. This elegant design enables in situ stiffness switching in lightweight and space-saving applications, as demonstrated through three robotic-related components. Under a uniform load, the curved origami can provide universal gripping, controlled force transmissibility, and multistage stiffness response. This work illustrates an unexplored and unprecedented capability of curved origami, which opens new applications in robotics for this particular family of origami patterns.

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Fang, Kuan, Yuke Zhu, Animesh Garg, Andrey Kurenkov, Viraj Mehta, Li Fei-Fei, and Silvio Savarese. "Learning task-oriented grasping for tool manipulation from simulated self-supervision." International Journal of Robotics Research 39, no. 2-3 (August 29, 2019): 202–16. http://dx.doi.org/10.1177/0278364919872545.

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Tool manipulation is vital for facilitating robots to complete challenging task goals. It requires reasoning about the desired effect of the task and, thus, properly grasping and manipulating the tool to achieve the task. Most work in robotics has focused on task-agnostic grasping, which optimizes for only grasp robustness without considering the subsequent manipulation tasks. In this article, we propose the Task-Oriented Grasping Network (TOG-Net) to jointly optimize both task-oriented grasping of a tool and the manipulation policy for that tool. The training process of the model is based on large-scale simulated self-supervision with procedurally generated tool objects. We perform both simulated and real-world experiments on two tool-based manipulation tasks: sweeping and hammering. Our model achieves overall 71.1% task success rate for sweeping and 80.0% task success rate for hammering.

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Wathes, C. M. "Interactions between animals and machines." Proceedings of the British Society of Animal Production (1972) 1992 (March 1992): 35. http://dx.doi.org/10.1017/s0308229600021590.

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A new age of mechanisation of animal agriculture is dawning following advances in robotic engineering, coupled with current knowledge of animal physiology, behaviour and disease. The advent of automated machines equipped with novel sensors and controlled by cheap microprocessors will eliminate many of the hazardous, tedious or unpleasant chores currently undertaken by farmers. Automatic attachment of teat cups to dairy cows, robotic sheep shearing and mechanical harvesting of broilers are now feasible and commercial exploitation is likely within a decade. Machines may tackle some tasks which are too difficult, dangerous or costly for man, who may be better employed elsewhere. Paradoxically, replacement of man by robotics designed according to animal needs may improve not only production efficiency but also welfare. Utilisation of robotics in animal agriculture requires research in sensing techniques, data interpretation, design of end effectors, machine control, and animal perception and response. Animal applications provide a particularly intriguing challenge to robotics engineers because animals are (relatively) fragile, and mobile. The dynamic interaction of animals with machines presents novel opportunities for animals to control their own environment as well as difficulties in machine design. Potential applications of robotics in animal husbandry are legion and include many husbandry tasks involving inspection, monitoring, handling, manipulation, treatment and caretaking.

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Nebot, Patricio, and Enric Cervera. "An integrated agent-based software architecture for mobile and manipulator systems." Robotica 25, no. 2 (March 2007): 213–20. http://dx.doi.org/10.1017/s0263574706003316.

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SUMMARYMobile manipulation involves the most important key issue in robotics: integration. While hardware integration seems to be nearly solved due to the increasing dominance of PC-compatible systems, software integration is still a challenge, since a lot of issues arise with the variety of operating systems, device drivers, application libraries, and programming languages which need to be merged in any real-world robotic system. This paper presents a software architecture, which seamlessly integrates robot arms, mobile bases, vision systems and sensing devices, in a distributed, homogeneous agent framework. Based on the Java platform, the agent-based architecture allows great flexibility in the integration of components, and provides a simple yet extensible and powerful software layer to develop further mobile manipulating environments. Detailed software issues, as well as preliminary results are shown, which pave the way towards the development of network-ready applications involving mobile and manipulating artifacts.

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Montaño, Andrés, and Raúl Suárez. "Dexterous Manipulation of Unknown Objects Using Virtual Contact Points." Robotics 8, no. 4 (October 12, 2019): 86. http://dx.doi.org/10.3390/robotics8040086.

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The manipulation of unknown objects is a problem of special interest in robotics since it is not always possible to have exact models of the objects with which the robot interacts. This paper presents a simple strategy to manipulate unknown objects using a robotic hand equipped with tactile sensors. The hand configurations that allow the rotation of an unknown object are computed using only tactile and kinematic information, obtained during the manipulation process and reasoning about the desired and real positions of the fingertips during the manipulation. This is done taking into account that the desired positions of the fingertips are not physically reachable since they are located in the interior of the manipulated object and therefore they are virtual positions with associated virtual contact points. The proposed approach was satisfactorily validated using three fingers of an anthropomorphic robotic hand (Allegro Hand), with the original fingertips replaced by tactile sensors (WTS-FT). In the experimental validation, several everyday objects with different shapes were successfully manipulated, rotating them without the need of knowing their shape or any other physical property.

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Anderson, Monica, Sonia Chernova, Zachary Dodds, Andrea L. Thomaz, and David Touretsky. "Report on the AAAI 2010 Robot Exhibition." AI Magazine 32, no. 3 (March 16, 2011): 109–18. http://dx.doi.org/10.1609/aimag.v32i3.2317.

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The 19th robotics program at the annual AAAI conference was held in Atlanta, Georgia in July 2010. In this article we give a summary of three components of the exhibition: small scale manipulation challenge: robotic chess; the learning by demonstration challenge, and the education track. In each section we detail the challenge task. We also describe the participating teams, highlight the research questions they tackled and brieﬂy describe the systems they demonstrated.

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Jakubiec, Beata, and Krystian Sokoliński. "Educational manipulation robot." AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 20, no. 1-2 (February 28, 2019): 336–39. http://dx.doi.org/10.24136/atest.2019.062.

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The article presents a project of the small articulated, educational robot with five degrees of freedom. There were described elements of the mechanical part of the structure and the control system based on LabVIEW and the Arduino platform. Apart of steerage and simple programming of manipulators movements, a measuring system was created using the created graphical interface. It allows you to register and visualize the basic parameters of the robot servo drives. The system consists of two basic components: the subsystem of current acquisition and servo voltages, the data processing subsystem. The developed system allows for an easy presentation of the construction and operation of the manipulator in the course of teaching in the field of automation and robotics.

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Nickels, Kevin, Matthew DiCicco, Max Bajracharya, and Paul Backes. "Vision guided manipulation for planetary robotics — position control." Robotics and Autonomous Systems 58, no. 1 (January 2010): 121–29. http://dx.doi.org/10.1016/j.robot.2009.07.029.

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XI, Ning, NianDong JIAO, LianQing LIU, HaiBo YU, Peng YU, YueChao WANG, and Shuai YUAN. "Research progress of robotics based micro/nano-manipulation." Chinese Science Bulletin 58, S2 (January 1, 2013): 28–39. http://dx.doi.org/10.1360/972013-928.

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Vukobratovic, M., and A. Tuneski. "Contact control concepts in manipulation robotics-an overview." IEEE Transactions on Industrial Electronics 41, no. 1 (1994): 12–24. http://dx.doi.org/10.1109/41.281603.

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Hamed, Abbi, Sai Chun Tang, Hongliang Ren, Alex Squires, Chris Payne, Ken Masamune, Guoyi Tang, Javad Mohammadpour, and Zion Tsz Ho Tse. "Advances in Haptics, Tactile Sensing, and Manipulation for Robot-Assisted Minimally Invasive Surgery, Noninvasive Surgery, and Diagnosis." Journal of Robotics 2012 (2012): 1–14. http://dx.doi.org/10.1155/2012/412816.

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The developments of medical practices and medical technologies have always progressed concurrently. The relatively recent developments in endoscopic technologies have allowed the realization of the “minimally invasive” form of surgeries. The advancements in robotics facilitate precise surgeries that are often integrated with medical image guidance capability. This in turn has driven the further development of technology to compensate for the unique complexities engendered by this new format and to improve the performance and broaden the scope of the procedures that can be performed. Medical robotics has been a central component of this development due to the highly suitable characteristics that a robotic system can purport, including highly optimizable mechanical conformation and the ability to program assistive functions in medical robots for surgeons to perform safe and accurate minimally invasive surgeries. In addition, combining the robot-assisted interventions with touch-sensing and medical imaging technologies can greatly improve the available information and thus help to ensure that minimally invasive surgeries continue to gain popularity and stay at the focus of modern medical technology development. This paper presents a state-of-the-art review of robotic systems for minimally invasive and noninvasive surgeries, precise surgeries, diagnoses, and their corresponding technologies.

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Prattichizzo, Domenico, and Antonio Bicchi. "Consistent Task Specification for Manipulation Systems With General Kinematics." Journal of Dynamic Systems, Measurement, and Control 119, no. 4 (December 1, 1997): 760–67. http://dx.doi.org/10.1115/1.2802388.

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Although most of the literature on manipulation systems deals with systems with as many degrees of freedom as the dimension of their task space, or even with more (redundant manipulators), kinematically defective manipulation systems are often encountered in robotics, in particular when dealing with simple industry-oriented grippers, or when the whole surface of the manipulator limbs is exploited to constrain the manipulated object, as in “whole-arm” manipulation. Kinematically defective systems differ from nondefective and redundant manipulation systems in many ways, some of which have been addressed in the literature. In this paper, we focus on one of the central problems of manipulation, i.e., controlling the manipulator in order to track a desired object trajectory, while guaranteeing that contact forces are controlled so as to comply with contact constraints (friction bounds, etc.) at every instant. We attack this problem by an unified approach that is appropriate for manipulation systems with general kinematics. When dealing with kinematically defective systems, it is not possible to assign arbitrary trajectories of object motions and contact forces. To understand what restrictions position and force reference trajectories should exhibit in order to be feasible by a given system, is the central issue of this work.

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Kim, Youngmoo E., Paul Oh, and Odest Chadwicke Jenkins. "The AAAI 2008 Robotics and Creativity Workshop." AI Magazine 30, no. 1 (January 18, 2009): 103. http://dx.doi.org/10.1609/aimag.v30i1.2218.

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The AAAI 2008 Robotics and Creativity Workshop was held in Chicago on July 14, 2008, which was immediately followed by the Robotics Exhibition over the next 3 days. In 2008, the AAAI Robotics organizers eschewed the previous format of a Robot Competition, choosing instead to focus on groundbreaking work representing two areas of robotics: creativity and mobility & manipulation (detailed in a separate article). Both workshops were held on July 14, and the Robotics Exhibition included participants from both categories. The Robotics and Creativity Workshop was made possible through the support of the National Science Foundation’s CreativeIT program and Microsoft Research.

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Torres-Jara, Eduardo, and Lorenzo Natale. "Sensitive Manipulation: Manipulation Through Tactile Feedback." International Journal of Humanoid Robotics 15, no. 01 (February 2018): 1850012. http://dx.doi.org/10.1142/s0219843618500123.

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Object grasping and manipulation in robotics has been largely approached using visual feedback. Human studies on the other hand have demonstrated the importance of tactile and force feedback to guide the interaction between the fingers and the objects. Inspired by these observations, we propose an approach that consists in guiding a robot’s actions mainly by tactile feedback, with remote sensing such as vision, used only as a complement. Directly sensing the interaction forces between the object, the environment, and the robot’s hand enables it to obtain information relevant to the task that can be used to perform it more reliably. This approach (that we call sensitive manipulation) requires important changes in the hardware and in the way the robot is programmed. At the hardware level, we exploit compliant actuators and novel sensors that allow to safely interact and detect the environment. We developed strategies to perform manipulation tasks that take advantage of these new sensing and actuation capabilities. In this paper, we demonstrate that using these strategies the humanoid robot Obrero can safely find, reach and grab unknown objects that are neither held in place by a fixture nor placed in a specific orientation. The robot can also make insertions by “feeling” the hole without specialized mechanisms such as a remote center of compliance (RCC).

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Kassawat, Majd, Enric Cervera, and Angel P. del Pobil. "An Omnidirectional Platform for Education and Research in Cooperative Robotics." Electronics 11, no. 3 (February 8, 2022): 499. http://dx.doi.org/10.3390/electronics11030499.

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In this paper we present a new, affordable, omnidirectional robot platform which is suitable for research and education in cooperative robotics. We design and implement the platform for the purpose of multi-agent object manipulation and transportation. The design consists of three omnidirectional wheels with two additional traction wheels, making multirobot object manipulation possible. It is validated by performing simple experiments using a setup with one robot and one target object. The execution flow of a simple task (Approach–Press–Lift–Hold–Set) is studied. In addition, we experiment to find the limits of the applied pressure and object orientation under certain conditions. The experiments demonstrate the significance of our inexpensive platform for research and education by proving its feasibility of use in topics such as collaborative robotics, physical interaction, and mobile manipulation.

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43

Zhou, Huaidong, Wusheng Chou, Wanchen Tuo, Yongfeng Rong, and Song Xu. "Mobile Manipulation Integrating Enhanced AMCL High-Precision Location and Dynamic Tracking Grasp." Sensors 20, no. 22 (November 23, 2020): 6697. http://dx.doi.org/10.3390/s20226697.

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Mobile manipulation, which has more flexibility than fixed-base manipulation, has always been an important topic in the field of robotics. However, for sophisticated operation in complex environments, efficient localization and dynamic tracking grasp still face enormous challenges. To address these challenges, this paper proposes a mobile manipulation method integrating laser-reflector-enhanced adaptive Monte Carlo localization (AMCL) algorithm and a dynamic tracking and grasping algorithm. First, by fusing the information of laser-reflector landmarks to adjust the weight of particles in AMCL, the localization accuracy of mobile platforms can be improved. Second, deep-learning-based multiple-object detection and visual servo are exploited to efficiently track and grasp dynamic objects. Then, a mobile manipulation system integrating the above two algorithms into a robotic with a 6-degrees-of-freedom (DOF) operation arm is implemented in an indoor environment. Technical components, including localization, multiple-object detection, dynamic tracking grasp, and the integrated system, are all verified in real-world scenarios. Experimental results demonstrate the efficacy and superiority of our method.

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Chaigneau, D., M. Arsicault, J. P. Gazeau, and S. Zeghloul. "LMS robotic hand grasp and manipulation planning (an isomorphic exoskeleton approach)." Robotica 26, no. 2 (March 2008): 177–88. http://dx.doi.org/10.1017/s0263574707003736.

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SUMMARYIn order to widen the potentialities of manipulation of the Laboratoire de Mécanique des solides (LMS) mechanical hand, we developed a new planning approach based on the use of a specific exoskeleton. This one has kinematics architecture and dimensions identical to the mechanical hand. This feature allows us to obtain manipulation trajectories for the mechanical hand, very easily and very quickly, by using the exoskeleton, without complex calibration. Manipulation's trajectories are replayed offline with an autonomous control, and, consequently, the exoskeleton is not used with any feedback strategy for telemanipulation. This paper presents the characteristics of this exoskeleton and the graphic interface that we developed. This one uses a method to determine the object's evolution during the manipulation with the exoskeleton, without using exteroceptive sensors. This new approach was tested for standard trajectories by simulation on a Computer-aided design (CAD) robotics system and by using the mechanical hand. Thus, we validate the use concept of an isomorphic exoskeleton to mechanical hand for manipulation planning with the LMS mechanical hand.

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Mazzeo, Angela, Jacopo Aguzzi, Marcello Calisti, Simonepietro Canese, Fabrizio Vecchi, Sergio Stefanni, and Marco Controzzi. "Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers." Sensors 22, no. 2 (January 14, 2022): 648. http://dx.doi.org/10.3390/s22020648.

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The collection of delicate deep-sea specimens of biological interest with remotely operated vehicle (ROV) industrial grippers and tools is a long and expensive procedure. Industrial grippers were originally designed for heavy manipulation tasks, while sampling specimens requires dexterity and precision. We describe the grippers and tools commonly used in underwater sampling for scientific purposes, systematically review the state of the art of research in underwater gripping technologies, and identify design trends. We discuss the possibility of executing typical manipulations of sampling procedures with commonly used grippers and research prototypes. Our results indicate that commonly used grippers ensure that the basic actions either of gripping or caging are possible, and their functionality is extended by holding proper tools. Moreover, the approach of the research status seems to have changed its focus in recent years: from the demonstration of the validity of a specific technology (actuation, transmission, sensing) for marine applications, to the solution of specific needs of underwater manipulation. Finally, we summarize the environmental and operational requirements that should be considered in the design of an underwater gripper.

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Platt, Robert, Colin Kohler, and Marcus Gualtieri. "Deictic Image Mapping: An Abstraction for Learning Pose Invariant Manipulation Policies." Proceedings of the AAAI Conference on Artificial Intelligence 33 (July 17, 2019): 8042–49. http://dx.doi.org/10.1609/aaai.v33i01.33018042.

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In applications of deep reinforcement learning to robotics, it is often the case that we want to learn pose invariant policies: policies that are invariant to changes in the position and orientation of objects in the world. For example, consider a pegin-hole insertion task. If the agent learns to insert a peg into one hole, we would like that policy to generalize to holes presented in different poses. Unfortunately, this is a challenge using conventional methods. This paper proposes a novel state and action abstraction that is invariant to pose shifts called deictic image maps that can be used with deep reinforcement learning. We provide broad conditions under which optimal abstract policies are optimal for the underlying system. Finally, we show that the method can help solve challenging robotic manipulation problems.

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Stenmark, Maj, and Jacek Malec. "Knowledge-based instruction of manipulation tasks for industrial robotics." Robotics and Computer-Integrated Manufacturing 33 (June 2015): 56–67. http://dx.doi.org/10.1016/j.rcim.2014.07.004.

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Mochiyama, Hiromi, Megu Gunji, and and Ryuma Niiyama. "Ostrich-Inspired Soft Robotics: A Flexible Bipedal Manipulator for Aggressive Physical Interaction." Journal of Robotics and Mechatronics 34, no. 2 (April 20, 2022): 212–18. http://dx.doi.org/10.20965/jrm.2022.p0212.

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In this letter, ostrich-inspired soft robotics, an approach to intelligent robots that can achieve dexterous manipulation and locomotion without hesitating to collide with the surrounding environment, is proposed. The rationale behind the approach is described from the history of bio-inspired mechanisms, biology, and the theory of robot control. This letter focuses on the manipulator. The first prototype of an ostrich-inspired manipulator was developed to investigate its feasibility. This prototype is a serial chain of 18 rigid links connected with rotation joints moving in a vertical plane and driven through two asymmetric antagonistic wire systems connected to two levers that are directly operated by a human operator playing the role of the controller. Therefore, this manipulator is a highly underactuated mechanism that is flexible against external forces. The experimental results show that a human operator can control this manipulator so that its tip (i.e., the head) can reach several positions, including an upper position against gravity, indicating the potential of ostrich-inspired manipulators.

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Pransky, Joanne. "The Pransky interview: Dr Martin Buehler, Executive R & D Imagineer at Walt Disney Imagineering and renowned expert in advanced robotics." Industrial Robot: An International Journal 42, no. 6 (October 19, 2015): 497–501. http://dx.doi.org/10.1108/ir-08-2015-0153.

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Purpose – The following article is a “Q & A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful business leader, regarding the commercialization and challenges of bringing technological inventions to market while overseeing a company. The paper aims to discuss these issues. Design/methodology/approach – The interviewee is Dr Martin Buehler, Executive R & D Imagineer, at Walt Disney Imagineering. Dr Buehler is a global expert in robot manipulation and mobile robots and has led the innovative R & D and product development for some of the world’s top robot organizations. In this interview, Dr Buehler shares some of his personal and business experiences of his 25-year journey. Findings – Dr Buehler studied electrical engineering at the University of Karlsruhe and received the MSc and PhD degrees in electrical engineering from Yale University, and after a PostDoc at MIT’s Leglab in locomotion, he became a professor at McGill University in 1991, with tenure since 1997. His research focused on dynamic grasping, direct drive motor control and legged robots. From 2003 to 2008, Dr Buehler was Director of Robotics at Boston Dynamics, and he was Director of Research at iRobot Corporation from 2008 to 2011. He served as VP and General Manager of Hospital Robots for Vecna Technologies from 2011 to 2013 and Senior Director of R & D and Director, R & D Center Munich for Covidien from 2013-2015. Originality/value – Dr Buehler is best known in the academic world for his expertise in “intermittent dynamical” robotic tasks, such as dynamic manipulation and dynamically stable legged locomotion. His research led to multiple breakthroughs in legged robot projects like BigDog and RHex. In the corporate world, Buehler’s passion is to translate robotics technologies into successful product solutions. He does this by the implementation of key management strategies including Scrum and rapid and systematic experimental iteration. In addition to holding several patents, Dr Buehler is an Advisory Editorial Board member for the International Journal of Robotics Research and formerly served for ten years as the Associate Editor for the Journal of Field Robotics. Dr Buehler is a bestowed IEEE Fellow and was the recipient of the prestigious Robotics Industry Association’s 2012 Engelberger Award for Technology.

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Diab, Mohammed, Aliakbar Akbari, Muhayy Ud Din, and Jan Rosell. "PMK—A Knowledge Processing Framework for Autonomous Robotics Perception and Manipulation." Sensors 19, no. 5 (March 7, 2019): 1166. http://dx.doi.org/10.3390/s19051166.

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Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these objects can be manipulated. In this line, this paper presents an ontological-based reasoning framework called Perception and Manipulation Knowledge (PMK) that includes: (1) the modeling of the environment in a standardized way to provide common vocabularies for information exchange in human-robot or robot-robot collaboration, (2) a sensory module to perceive the objects in the environment and assert the ontological knowledge, (3) an evaluation-based analysis of the situation of the objects in the environment, in order to enhance the planning of manipulation tasks. The paper describes the concepts and the implementation of PMK, and presents an example demonstrating the range of information the framework can provide for autonomous robots.

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Journal articles on the topic 'Manipulation robotics'

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